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EP1221642A3 - Lane recognition system for vehicle - Google Patents

Lane recognition system for vehicle Download PDF

Info

Publication number
EP1221642A3
EP1221642A3 EP01310011A EP01310011A EP1221642A3 EP 1221642 A3 EP1221642 A3 EP 1221642A3 EP 01310011 A EP01310011 A EP 01310011A EP 01310011 A EP01310011 A EP 01310011A EP 1221642 A3 EP1221642 A3 EP 1221642A3
Authority
EP
European Patent Office
Prior art keywords
lane
marker
vehicle
parameters
road
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP01310011A
Other languages
German (de)
French (fr)
Other versions
EP1221642B1 (en
EP1221642A2 (en
Inventor
Masafumi Tsuji
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Nissan Motor Co Ltd
Original Assignee
Nissan Motor Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Nissan Motor Co Ltd filed Critical Nissan Motor Co Ltd
Publication of EP1221642A2 publication Critical patent/EP1221642A2/en
Publication of EP1221642A3 publication Critical patent/EP1221642A3/en
Application granted granted Critical
Publication of EP1221642B1 publication Critical patent/EP1221642B1/en
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/40—Extraction of image or video features
    • G06V10/44—Local feature extraction by analysis of parts of the pattern, e.g. by detecting edges, contours, loops, corners, strokes or intersections; Connectivity analysis, e.g. of connected components
    • G06V10/443—Local feature extraction by analysis of parts of the pattern, e.g. by detecting edges, contours, loops, corners, strokes or intersections; Connectivity analysis, e.g. of connected components by matching or filtering
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
    • G06V20/588—Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Multimedia (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Theoretical Computer Science (AREA)
  • Electromagnetism (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Automation & Control Theory (AREA)
  • Traffic Control Systems (AREA)
  • Image Processing (AREA)
  • Image Analysis (AREA)
  • Length Measuring Devices By Optical Means (AREA)

Abstract

A lane recognition system (S) for a vehicle (VE) is comprised of a camera set (1 and 2), a memory (4), and a controller (3) connected to the camera set and the memory. The camera set picks up a road image of a road ahead of the vehicle, and the memory stores parameters representative of a model lane marker of the road image. The controller is arranged to set a plurality of lane-marker detecting areas on the road image so that each lane-marker detecting area is partially overlapped with the lane-marker detecting areas adjacent to the one of the lane-marker candidate-point detecting areas, to detect each lane marker candidate point in each lane-marker detecting area, to calculate variations of the parameters, to correct the parameters according to the variation, and to output road-shape indicative information on the basis of the parameters.
EP01310011A 2000-12-26 2001-12-03 Lane recognition system for vehicle Expired - Lifetime EP1221642B1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2000395096 2000-12-26
JP2000395096A JP3736346B2 (en) 2000-12-26 2000-12-26 Lane detection device

Publications (3)

Publication Number Publication Date
EP1221642A2 EP1221642A2 (en) 2002-07-10
EP1221642A3 true EP1221642A3 (en) 2003-07-09
EP1221642B1 EP1221642B1 (en) 2006-02-22

Family

ID=18860613

Family Applications (1)

Application Number Title Priority Date Filing Date
EP01310011A Expired - Lifetime EP1221642B1 (en) 2000-12-26 2001-12-03 Lane recognition system for vehicle

Country Status (4)

Country Link
US (1) US6868168B2 (en)
EP (1) EP1221642B1 (en)
JP (1) JP3736346B2 (en)
DE (1) DE60117348T2 (en)

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JP3780922B2 (en) * 2001-11-30 2006-05-31 日産自動車株式会社 Road white line recognition device
JP4092974B2 (en) * 2002-08-01 2008-05-28 日産自動車株式会社 Vehicle travel control device
JP3977776B2 (en) * 2003-03-13 2007-09-19 株式会社東芝 Stereo calibration device and stereo image monitoring device using the same
JP4107587B2 (en) * 2003-12-17 2008-06-25 三菱電機株式会社 Lane recognition image processing device
JP4162618B2 (en) 2004-03-12 2008-10-08 株式会社豊田中央研究所 Lane boundary judgment device
US7482916B2 (en) 2004-03-15 2009-01-27 Anita Au Automatic signaling systems for vehicles
JP3898709B2 (en) 2004-05-19 2007-03-28 本田技研工業株式会社 Vehicle lane marking recognition device
JP3722485B1 (en) * 2004-05-19 2005-11-30 本田技研工業株式会社 Vehicle lane marking recognition device
JP3722487B1 (en) 2004-05-19 2005-11-30 本田技研工業株式会社 Vehicle lane marking recognition device
JP3722486B1 (en) * 2004-05-19 2005-11-30 本田技研工業株式会社 Vehicle lane marking recognition device
DE102004028404A1 (en) * 2004-06-14 2006-01-19 Daimlerchrysler Ag Method for estimating the course of a lane of a motor vehicle
US7050908B1 (en) * 2005-03-22 2006-05-23 Delphi Technologies, Inc. Lane marker projection method for a motor vehicle vision system
JP4659631B2 (en) * 2005-04-26 2011-03-30 富士重工業株式会社 Lane recognition device
US7415134B2 (en) 2005-05-17 2008-08-19 Honda Motor Co., Ltd. Traffic lane marking line recognition system for vehicle
DE102005062272B4 (en) * 2005-12-24 2016-03-10 Volkswagen Ag Windshield and lane detection system for a motor vehicle
EP1968014B1 (en) * 2005-12-28 2012-12-19 Honda Motor Co., Ltd. Vehicle and lane mark detection device
DE102007051966A1 (en) * 2007-10-31 2009-05-07 Adc Automotive Distance Control Systems Gmbh Method and device for detecting the course of a traffic lane
US20090284361A1 (en) * 2008-05-19 2009-11-19 John Boddie Driver scoring system with lane changing detection and warning system
JP4656456B2 (en) * 2008-10-22 2011-03-23 日本電気株式会社 Lane marking device, lane marking detection method, and lane marking detection program
JP4780534B2 (en) * 2009-01-23 2011-09-28 トヨタ自動車株式会社 Road marking line detection device
US8482392B2 (en) * 2010-06-23 2013-07-09 GM Global Technology Operations LLC Shape memory polymer-based haptic devices
US9098751B2 (en) 2011-07-27 2015-08-04 Gentex Corporation System and method for periodic lane marker identification and tracking
US8755967B1 (en) * 2012-03-23 2014-06-17 Google Inc. Estimating road lane geometry using lane marker observations
KR101396924B1 (en) * 2012-11-01 2014-05-19 (주)언맨드솔루션 lane wideh measuring system by using cammera
DE102013220303A1 (en) * 2013-10-08 2015-04-09 Ford Global Technologies, Llc Method for determining a relative road gradient
US9310804B1 (en) * 2013-11-21 2016-04-12 Google Inc. Use of prior maps for estimation of lane boundaries
JP6213359B2 (en) * 2014-04-16 2017-10-18 株式会社デンソー Drive recorder and acceleration correction program for drive recorder
JP6456682B2 (en) * 2014-12-25 2019-01-23 株式会社Ｓｏｋｅｎ Traveling line recognition device
KR101748269B1 (en) * 2015-11-11 2017-06-27 현대자동차주식회사 Apparatus and method for automatic steering control in vehicle
US20180067494A1 (en) * 2016-09-02 2018-03-08 Delphi Technologies, Inc. Automated-vehicle 3d road-model and lane-marking definition system
JP6637399B2 (en) * 2016-09-30 2020-01-29 株式会社デンソー Area recognition apparatus and area recognition method
EP3631675B1 (en) 2017-06-28 2023-09-13 Huawei Technologies Co., Ltd. Advanced driver assistance system and method
CN109491384B (en) * 2018-11-14 2022-04-19 哈工大机器人（合肥）国际创新研究院 Method and device for acquiring road marking data
CN111339877B (en) * 2020-02-19 2023-04-07 阿波罗智联(北京)科技有限公司 Method and device for detecting length of blind area, electronic equipment and storage medium
WO2025109727A1 (en) * 2023-11-22 2025-05-30 株式会社Subaru Locator device, processing device, and onboard system
CN119178442B (en) * 2024-11-22 2025-04-08 浙江吉利控股集团有限公司 Lane matching method, device, equipment, storage medium and product

Citations (1)

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Publication number Priority date Publication date Assignee Title
JPH11296660A (en) * 1998-04-15 1999-10-29 Nissan Motor Co Ltd Road white line detector

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JP3468428B2 (en) * 1993-03-24 2003-11-17 富士重工業株式会社 Vehicle distance detection device
JP3424334B2 (en) 1994-06-21 2003-07-07 日産自動車株式会社 Roadway detection device
US6091833A (en) * 1996-08-28 2000-07-18 Matsushita Electric Industrial Co., Ltd. Local positioning apparatus, and a method therefor
JP3516856B2 (en) * 1998-01-30 2004-04-05 富士重工業株式会社 Outside monitoring device
GB9804112D0 (en) * 1998-02-27 1998-04-22 Lucas Ind Plc Road profile prediction
JP3352655B2 (en) * 1999-09-22 2002-12-03 富士重工業株式会社 Lane recognition device

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH11296660A (en) * 1998-04-15 1999-10-29 Nissan Motor Co Ltd Road white line detector

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
PATENT ABSTRACTS OF JAPAN vol. 2000, no. 01 31 January 2000 (2000-01-31) *

Also Published As

Publication number Publication date
US6868168B2 (en) 2005-03-15
DE60117348D1 (en) 2006-04-27
US20020081001A1 (en) 2002-06-27
DE60117348T2 (en) 2006-11-02
JP2002197469A (en) 2002-07-12
JP3736346B2 (en) 2006-01-18
EP1221642B1 (en) 2006-02-22
EP1221642A2 (en) 2002-07-10

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